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2021 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2021

作者： Huo, Jun Yang, Bo Ru, Hongge Huang, Jian Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Wuhan430074 China

ISBN: (纸本)9781665407731

It is a positive trend for hemiplegia with wearable robots in rehabilitation training. Recently, wearable Supernumerary Robotic Limb (SRL) is rising to a hot spot. The difficulty in modeling SRL for hemiplegia is how to make the SRL mechanism match the human upper and lower limbs' size and function simultaneously. In this paper, a simplified model of a four Degree of Freedoms (DOFs) universal SRL (USRL) is introduced. Based on workspace similarity, which is evaluated by Jaccard Index (JI), we establish a multi-object optimization (MOO) model. By applying the Particle Swarm Optimization (PSO) algorithm, we have found the optimal SRL mechanism parameters that meet the requirement of the human upper limb and the cane simultaneously. Meanwhile, a few impact factors are discussed briefly in the present proposal. The simulation results show that the USRL has a sound match with the human and could assist the hemiplegia subject as a supplemental limb. © 2021 IEEE.

关键词： Robotics

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On languages generated by asynchronous spiking neural P systems

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THEORETICAL COMPUTER SCIENCE 2009年第26期410卷 2478-2488页

作者： Zhang, Xingyi Zeng, Xiangxiang Pan, Linqiang Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Dept Control Sci & Engn Wuhan 430074 Hubei Peoples R China

In this paper, we investigate the languages generated by asynchronous spiking neural P systems. Characterizations of finite languages and recursively enumerable languages are obtained by asynchronous spiking neural P systems with extended rules. The relationships of the languages generated by asynchronous spiking neural P systems with regular and non-semilinear languages are also investigated. (C) 2008 Elsevier B.V. All rights reserved.

关键词： Membrane computing Spiking neural P systems Universality Register machines

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Nonlinear Terminal Guidance for Hypervelocity Vehicles Impact in Specific Direction and Speed

Nonlinear Terminal Guidance for Hypervelocity Vehicles Impac...

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第25届中国控制与决策会议

作者： Kun Hu Lei Liu Yongji Wang Zhishen Wang Key Laboratory of Ministry of Education for Image Processing & Intelligent Control Department of Control Science & Engineering Huazhong University of Science & Technology

ISBN: (纸本)9781467355322

The terminal guidance problem of a hypervelocity gliding vehicle to intercept a stationary target in the planar scenario is considered. In addition to impact position accuracy, the guidance law must meet the impact angle and speed demand. This problem is formulated as an infinite-time horizon nonlinear regulator problem, and solved with the state-dependent Riccati equation (SDRE) control technique. We convert the system to a linear-like structure with state-dependent coefficient (SDC) matrices and derive a closed-loop state-feedback control law using the SDRE method. A new state is introduced concerning the impact speed constraint. By rotating the coordinate system, the guidance scheme is extended to satisfy arbitrary impact angle. The state weighting matrix is chosen as the function of time-to-go to include the distance information between the vehicle and target. The numerical simulations are carried out for different impact angles and speeds, the results of which verify the effectiveness of the proposed guidance approach.

关键词： Terminal Guidance, Nonlinear Regulator, State-dependent Riccati Equation

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Homogeneous Spiking Neural P Systems

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FUNDAMENTA INFORMATICAE 2009年第1-2期97卷 275-294页

作者： Zeng, Xiangxiang Zhang, Xingyi Pan, Linqiang Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Image Proc & Intelligent Control Wuhan 430074 Hubei Peoples R China

Spiking neural P systems are a class of distributed parallel computing models inspired from the way the neurons communicate with each other by means of electrical impulses (called "spikes"). In this paper, we consider a restricted variant of spiking neural P systems, called homogeneous spiking neural P systems, where each neuron has the same set of rules. The universality of homogeneous spiking neural P systems is investigated. One of universality results is that it is sufficient for homogeneous spiking neural P system to have only one neuron that behaves non-deterministically in order to achieve Turing completeness.

关键词： Membrane computing Spiking neural P system Register machine

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Underwater Perception and Autonomous Operation for Underwater Vehicle-Manipulator Systems: Methodology and Experiment

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IEEE/ASME Transactions on Mechatronics 2025年

作者： Jiang, Chaicheng Xiong, Xinyang Xiang, Xianbo Zeng, Zhigang Zhang, Fumin Huazhong University of Science and Technology School of Artificial Intelligence and Automation Wuhan 430074 China Huazhong University of Science and Technology School of Naval Architecture and Ocean Engineering Wuhan 430074 China Huazhong University of Science and Technology School of Naval Architecture and Ocean Engineering School of Artificial Intelligence and Automation State Key Lab of Intelligent Manufacturing Equipment and Technology Wuhan 430074 China Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control The Education Ministry of China Wuhan 430074 China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Clear Water Bay Hong Kong Hong Kong

Camera-equipped underwater vehicle-manipulator systems (UVMS) can achieve autonomous underwater operations through visual servoing. However, current methods excessively rely on auxiliary means for target's visual information and do not sufficiently consider the target's pose when designing visual servoing schemes. As a result, UVMS can only perform dynamic positioning or grasp simple-shaped targets like sea urchins. In this article, we are devoted to making the UVMS autonomously complete more complex underwater operations, such as valve switching and pipe handling. First, an underwater target perception system is proposed to address the issue of discontinuous target position estimation caused by various interferences. Second, a deep neural network-based grasping mechanism controller is proposed to enable the manipulator to grasp targets in various initial poses using the target image. Third, a decoupled visual servoing scheme is proposed for the motion control of the UVMS, and in collaboration with a designed task supervisor to ensure that the UVMS can complete the underwater operation autonomously. To validate the effectiveness of the proposed methods, underwater experiments are conducted based on a UVMS prototype. The UVMS succeeds to autonomously switch different types of valves and handle the pipe. Experiments conducted under dynamic currents validated the reliability and robustness of the proposed methods. © 1996-2012 IEEE.

关键词： Autonomous underwater operations deep neural network underwater vehicle-manipulator systems (UVMS) visual perception visual servoing

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Stator flux estimation with vector transforming and signal filtering method for electrical machines

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IET POWER ELECTRONICS 2018年第2期11卷 357-363页

作者： Liu, Ying Cheng, Shanmei Ning, Bowen Li, Yesong Huazhong Univ Sci & Technol Sch Automat Key Lab Image Proc & Intelligent Control Wuhan Hubei Peoples R China

Stator flux estimation for electrical machine using voltage model (VM) with a simple structure and the least parameters has been widely researched in high-performance drive systems. Existing low-pass filter (LPF)-based estimators either respond slowly or cannot adequately suppress DC drifts, thus, a vector transforming and signal filtering method using VM is proposed for flux estimation. An original flux vector is directly produced through a transformation for motor back electromotive force, and then, the desired flux is obtained through an optimised filter which is designed by combing LPF and band-pass filter with an optimal function. The proposed estimator can both eliminate DC drifts and obtain a fast response and high accuracy, and additionally, its structure is simplified by the decomposing process, which significantly reduces the computation and occupied resources. The effects of cut-off frequencies on dynamical responses and flux harmonics are investigated and the limitations are obtained. This estimator is applicable to extensive strategies, for instance, the implementation of a direct torque control-based electrical drive system is carried out. Theoretical analysis, simulation, and experiment are conducted to validate the feasibility and effectiveness of the proposed scheme.

关键词： vectors electric drives low-pass filters filtering theory electric machines stator flux estimation vector transforming method signal filtering method electrical machines voltage model low-pass filter-based estimators LPF-based estimators flux vector motor back electromotive force band-pass filter direct torque control-based electrical drive system

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Event-triggered Consensus Of Nonlinear Multi-Agent Systems With Nonlinear Interconnections

Event-triggered Consensus Of Nonlinear Multi-Agent Systems W...

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第三十二届中国控制会议

作者： YIN Xiuxia YUE Dong Department of Control Science and Engineering and the Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology

ISBN: (纸本)9781479900305

This paper investigates the consensus problem for a set of nonlinear multi-agent systems with nonlinear interconnections. First, in order to reduce the communication burden in the multi-agent network, a distributed event-triggered consensus control is designed by taking into account the effect of the nonlinear interconnections. Then, based on the Lyapunov functional method and the Kronecker product technique, sufficient conditions are obtained to guarantee the consensus in the form of linear matrix inequality (LMI). Finally, a simulation example is proposed to illustrate the effectiveness of the developed theory.

关键词： Consensus, Multi-Agent System (MAS), Nonlinear Interconnection, Event-Triggered control, LMI.

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Short-Term Residential Load Forecasting via Pooling-Ensemble Model with Smoothing Clustering

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第7期5卷 3690-3702页

作者： Xiao, Jiang-Wen Fang, Hongliang Wang, Yan-Wu Huazhong University of Science and Technology Ministry of Education School of Artificial Intelligence and Automation The Key Laboratory of Image Processing and Intelligent Control Wuhan430074 China

Short-term residential load forecasting is essential to demand side response. However, the frequent spikes in the load and the volatile daily load patterns make it difficult to accurately forecast the load. To deal with these problems, this article proposes a smoothing clustering method for daily load clustering and a pooling-ensemble model for one day ahead load forecasting. The whole short-term load forecasting framework in this article contains three steps. Specifically and first, the states of the residents are obtained by clustering the daily load curves with the proposed smoothing clustering method. Second, a weighted mixed Markov model is built to predict the probability distribution of the load state in the next day. Third, multiple predictors in the pooling-ensemble model are selected for different states and the load is forecasted by weighing the results of the multiple predictors based on the predicted states. Results of the case studies and comparison studies on two public datasets verify the advantages of the smoothing clustering method and the pooling-ensemble model. © 2020 IEEE.

关键词： Probability distributions

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FCS-MPC for a single-phase two-stage grid-connected PV inverter

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IET POWER ELECTRONICS 2019年第4期12卷 915-922页

作者： Liu, Jiang Cheng, Shanmei Liu, Ying Shen, Anwen Huazhong Univ Sci & Technol Sch Automat Key Lab Image Proc & Intelligent Control Wuhan Hubei Peoples R China

The high-efficiency inverter in a wide input voltage range is expected to be a solution for the distributed generation system. This study gives a high-efficiency two-stage topology and proposes a finite-control-set model predictive control (FCS-MPC) strategy. The main objectives of the proposed model predictive controller are: (i) simultaneously controlling multi-variables in the complex buck-boost current controller, (ii) optimal design calculation for predictive current and voltage, (iii) normalisation of the state variables for cost function formulation, and (iv) low correlation between the dc-link capacitor and control algorithm. A more reasonable operation mode of high-frequency switches is provided for the two-stage topology improving system performance. In order to optimise the total harmonic distortion of the output current and the error of the dc-link voltage, a suitable weighting factor could be designed in the proposed FCS-MPC method. The steady-state characteristics of the proposed controller are simulated based on MATlab/Simulink. Experimental results demonstrate the validity and practicability of the proposed control strategy.

关键词： power convertors electric current control voltage control photovoltaic power systems invertors power grids predictive control harmonic distortion main objectives model predictive controller multivariables complex buck-boost current controller optimal design calculation predictive current voltage state variables cost function formulation dc-link capacitor control algorithm high-frequency switches system performance output current dc-link voltage FCS-MPC method control strategy single-phase two-stage grid high-efficiency inverter wide input voltage range distributed generation system high-efficiency two-stage topology finite-control-set model predictive control

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A recursive molecular sticker algorithm for the maximal clique problem

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JOURNAL OF COMPUTATIONAL AND THEORETICAL NANOSCIENCE 2007年第7-8期4卷 1253-1256页

作者： Geng, Xiutang Xiao, Jianhua Xu, Jin Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

Among various DNA computing algorithms, it is very important to generate an initial data pool that covers both correct and incorrect answers. However, algorithms based on brute force search are limited to problem size, since the bigger the problem, the bigger the initial data pool. In this paper, we propose a recursive molecular sticker algorithm to resolve the maximal clique problem. Some graphs with more vertices can be handled with the proposed algorithm. Particularly, our algorithm is adapted to some graphs with lower edge density. For a given graph with n vertices, the time complexity of our algorithm is O(n(2)). In addition, three kinds of enzymes, two kinds of memory strands, n kinds of stickers, n sticker tubes, n+2 separation tubes and n data tubes are necessary for our recursive molecular sticker algorithm to resolve the maximal clique problem.

关键词： DNA computing sticker model maximal clique problem recursive algorithm

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